joint_state_monitor.h

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#ifndef PLANNING_ENVIRONMENT_JOINT_STATE_MONITOR
#define PLANNING_ENVIRONMENT_JOINT_STATE_MONITOR

#include <ros/ros.h>
#include <sensor_msgs/JointState.h>

#include <urdf/model.h>

#include <boost/thread/mutex.hpp>
#include <boost/thread/condition.hpp>
#include <vector>
#include <string>
#include <map>

namespace planning_environment
{
  class JointStateMonitor
  {
    public:
      
    JointStateMonitor();
    void stop(void);
    sensor_msgs::JointState getJointState();
    sensor_msgs::JointState getJointStateRealJoints();
    sensor_msgs::JointState getJointState(std::vector<std::string> names);
    ros::Time last_update_;
    bool active_;

    private:
    ros::Subscriber joint_state_subscriber_;
    bool state_monitor_started_;
    bool first_time_;
    sensor_msgs::JointState joint_state_;
    std::map<std::string,int> joint_state_index_;
    void jointStateCallback(const sensor_msgs::JointStateConstPtr &joint_state);
    boost::mutex state_mutex_;
    ros::NodeHandle root_handle_;
    std::vector<int> joint_real_state_index_;
    urdf::Model robot_model_;
  };

}

#endif